Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Paolo De PetrisMihir DharmadhikariHuan NguyenKostas AlexisPublished in: IROS (2022)
Keyphrases
- motion planning
- collision free
- mobile robot
- multi robot
- humanoid robot
- path planning
- risk measures
- degrees of freedom
- trajectory planning
- manipulation tasks
- risk averse
- expected utility
- robot arm
- collision avoidance
- robotic tasks
- robot localization
- potential field
- autonomous mobile robot
- robotic arm
- dynamic environments
- belief space
- obstacle avoidance
- inverse kinematics
- simultaneous localization and mapping
- control law
- optimal path
- extreme events
- climbing robot
- end effector
- robust optimization
- mechanical systems
- shortest path
- multi modal
- spatio temporal
- computer vision